This is a class project for CMU 16-711 Kinematics, Dynamics and Control, Spring 2020.
Demo Video:
- Ubuntu 18.04
- ROS Melodic
- CoppeliaSim v4.0.0+ (Install CoppeliaSim)
- CoppeliaSim ROS 1.0 Plugin (Copy compiledRosPlugins/libsimExtROSInterface.so out to installation dir)
- Apriltag:
rosdep install --from-paths src --ignore-src -r -y
- Vortex Studio (for better dynamics simulation)
mkdir -p ~/16711_ws/src
cd ~/16711_ws/src
git clone https://github.com/harveybia/jacobian-visual-servo
catkin build
source ~/16711_ws/src/jacobian-visual-servo/devel/setup.bash
roscore & # Run roscore however you like
cd <CoppeliaSim_Installation_Dir>
./coppeliaSim.sh # Run after roscore is running
# Open snake_arm.simscene.xml and tap play button
rosrun jacobian-visual-servo uncertain_IK_server
- april tag node
roslaunch apriltag_ros continuous_detection.launch
- camera info publisher node
roslaunch apriltag_utils caminfo_pub.launch
- Haowen (Harvey) Shi (haowensh@andrew.cmu.edu)
- Daqian Cheng (daqianc@andrew.cmu.edu)
- Hengrui (Henry) Zhang (hengruiz@andrew.cmu.edu)